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4.1. Launch parameters

If you are not sure how to set the parameters, you can connect the orbbec camera and open the OrbbecViewer parameter settings.

The following are the launch parameters available:

4.1.1. Core & Stream Configuration

  • camera_name

    • Start the node namespace.

  • serial_number

    • The serial number of the camera. This is required when multiple cameras are used.

  • usb_port

    • The USB port of the camera. This is required when multiple cameras are used.

  • device_num

    • The number of devices. This must be filled in if multiple cameras are required.

  • device_preset

    • The default value is Default. You can use the following command to view the configurable mode

    ros2 run orbbec_camera list_camera_profile_mode_node

  • [color|depth|left_ir|right_ir|ir]_[width|height|fps|format]

    • The resolution and frame rate of the sensor stream.

  • enable_point_cloud

    • Enable the point cloud.

  • enable_colored_point_cloud

    • Enable the RGB point cloud.

  • point_cloud_decimation_filter_factor

    • Point cloud downsampling factor. Range: 1–8. 1 means no downsampling.

  • ordered_pc

    • Enable filtering of invalid point clouds.

4.1.2. Sensor Controls

4.1.2.1. Color Stream

  • enable_color_auto_exposure

    • Enable the Color auto exposure.

  • enable_color_auto_exposure_priority

    • Enable the Color auto exposure priority.

  • color_exposure

    • Set the Color exposure.

  • color_gain

    • Set the Color gain.

  • enable_color_auto_white_balance

    • Enable the Color auto white balance.

  • color_white_balance

    • Set the Color white balance.

  • color_ae_max_exposure

    • Set the maximum exposure value for Color auto exposure.

  • color_brightness, color_sharpness, color_gamma, color_saturation, color_contrast, color_hue

    • Set the Color brightness, sharpness, gamma, saturation, contrast, and hue.

  • color_backlight_compensation

    • Enables the color camera’s backlight compensation feature. Range: 0–6, Default: 3.

  • enable_color_decimation_filter / color_decimation_filter_scale

    • Enable the Color decimation filter and set its scale.

  • color_ae_roi_[left|right|top|bottom]

    • Set Color auto exposure ROI.

4.1.2.2. Depth Stream

  • enable_depth_auto_exposure_priority

    • Enable the Depth auto exposure priority.

  • mean_intensity_set_point

    • Set the target average intensity of the depth image when auto-exposure is turned on.

    Note: This replaces the deprecated depth_brightness, which is still supported for backward compatibility.

  • depth_ae_roi_[left|right|top|bottom]

    • Set Depth auto exposure ROI.

  • enable_depth_scale

    • Whether to enable depth scaling after setting D2C. true means enabled, the default is true.

  • depth_precision

    • The depth precision should be in the format 1mm. The default value is 1mm.

4.1.2.3. IR Stream

  • enable_ir_auto_exposure

    • Enable the IR auto exposure.

  • ir_exposure / ir_gain

    • Set the IR exposure and gain.

  • ir_ae_max_exposure

    • Set the maximum exposure value for IR auto exposure.

  • ir_brightness

    • Set the target average intensity of the ir image when auto-exposure is turned on.

4.1.2.4. Laser / LDP

  • enable_laser

    • Enable the laser. The default value is true.

  • laser_energy_level

    • Set the laser energy level.

  • enable_ldp

    • Enable the LDP.

4.1.3. Device, Sync & Advanced Features

4.1.3.1. Multi-Camera Synchronization

  • sync_mode

    • Set sync mode. The default value is standalone.

  • depth_delay_us / color_delay_us

    • The delay time (microseconds) of the depth/color image capture after receiving the capture command or trigger signal.

  • trigger2image_delay_us

    • The delay time (microseconds) of the image capture after receiving the capture command or trigger signal.

  • trigger_out_delay_us

    • The delay time (microseconds) of the trigger signal output after receiving the capture command or trigger signal.

  • trigger_out_enabled

    • Enable the trigger out signal.

4.1.3.2. Network Cameras

  • enumerate_net_device

    • Enable automatically enumerate network devices.

  • ip_address / port

    • Set net device’s IP address and port (Usually 8090).

  • force_ip_enable

    • Enable the Force IP function. Default: false

  • force_ip_mac

    • Target device MAC address when multiple cameras are connected (e.g., "54:14:FD:06:07:DA"). You can use the list_devices_node to find the MAC of each device. Default: ""

  • force_ip_address

    • Static IP address to assign. Default: 192.168.1.10

  • force_ip_subnet_mask

    • Subnet mask for the static IP. Default: 255.255.255.0

  • force_ip_gateway

    • Gateway address for the static IP. Default: 192.168.1.1

Used for net camera.

4.1.3.3. Device-Specific

  • preset_resolution_config

    • Preset resolution configuration for the camera device. Format: “width,height,ir_decimation_factor,depth_decimation_factor”. Example: “1280,720,4,4”. Leave empty to disable.

    Only supported 435Le.

  • ae_mode

    • colorbased: Automatic exposure based on color flow. depthbased: Automatic exposure based on depth flow. 默认值： depthbased

      Only supports Gemini 305.

  • enalbe_sports_mode

    • Whether to enable sports mode. Default: false

      Only supports Gemini 305.

  • depth_downscale / left_ir_downscale /right_ir_downscale

    • Set the downsampling multiple. You can use ros2 run orbbec_camera list_camera_profile_mode_node to view the settable resolution. Default value: 1

      Only supports Gemini 305.

  • enable_ptp_config

    • Enable PTP time synchronization. Only for Gemini 335Le. Requires enable_sync_host_time to be false.

4.1.3.4. Disparity

  • disparity_to_depth_mode

    • HW: use hardware disparity to depth conversion. SW: use software disparity to depth conversion.

  • disparity_range_mode, disparity_search_offset, disparity_offset_config

    • Parameters for disparity search offset.

4.1.3.5. Interleave AE Mode

  • interleave_ae_mode

    • Set laser or hdr interleave.

  • interleave_frame_enable, interleave_skip_enable, interleave_skip_index

    • Parameters to control interleave frame mode.

  • [hdr|laser]_index[0|1]_[...]

    • In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames.

All interleave parameters are used for interleave ae mode.

4.1.3.6. Intra-Camera Synchronization

  • depth_registration

    • Enable alignment of the depth frame to the color frame. This field is required when the enable_colored_point_cloud is set to true.

  • align_mode

    • The alignment mode to be used. Options are HW for hardware alignment and SW for software alignment.

  • align_target_stream

    • Set align target stream mode.

    • The possible values are COLOR, DEPTH.

    • COLOR: Align depth to color.

    • DEPTH: Align color to depth.

  • intra_camera_sync_reference

    • Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when sync_mode is set to software or hardware trigger mode. Options: Start, Middle, End. Default: Middle

4.1.4. Basic & General Parameters

4.1.4.1. Firmware & Backend

  • preset_firmware_path

    • The input parameter is the preset firmware path. If multiple paths are input, each path needs to be separated by , and a maximum of 3 firmware paths can be input.

  • uvc_backend

    • Optional values: v4l2, libuvc.

  • connection_delay

    • The delay time in milliseconds for reopening the device. Some devices, such as Astra mini, require a longer time to initialize and reopening the device immediately can cause firmware crashes when hot plugging.

  • retry_on_usb3_detection_failure

    • If the camera is connected to a USB 2.0 port and is not detected, the system will attempt to reset the camera up to three times. It is recommended to set this parameter to false when using a USB 2.0 connection to avoid unnecessary resets.

4.1.4.2. TF, Extrinsics & Calibration

  • publish_tf / tf_publish_rate

    • Enable the TF publish and set its publication rate.

  • ir_info_uri / color_info_uri

    • Set URL of the IR/color camera info.

4.1.4.3. Time Synchronization

  • enable_sync_host_time

    • Enable synchronization of the host time with the camera time. The default value is true. If using global time, set to false.

  • time_domain

    • Select timestamp type: device, global, and system.

  • enable_frame_sync

    • Enable the frame synchronization.

4.1.4.4. Logging & Diagnostics

  • log_level

    • SDK log level. Default is info. Optional values: debug, info, warn, error, fatal.

  • log_file_name

    • Saved SDK log file name. Effective when log_level is debug.

  • diagnostics_frequency

    • Diagnostic period in seconds.

  • enable_heartbeat

    • Enable the heartbeat function. Default is false. If true, the camera node will send heartbeat signals to the firmware.

4.1.4.5. Miscellaneous

  • config_file_path

    • The path to the YAML configuration file. Default is "". If not specified, default parameters from the launch file will be used.

  • frame_aggregate_mode

    • Set frame aggregate output mode. Optional values: full_frame, color_frame, ANY, disable.

  • enable_d2c_viewer

    • Publishes the D2C overlay image (for testing only).

4.1.5. IMU

  • enable_accel / enable_gyro

    • Enable the Accelerometer/gyroscope and output its info topic data.

  • enable_sync_output_accel_gyro

    • Enable the sync accel_gyro, and output IMU topic real-time data.

  • accel_rate / gyro_rate

    • The frequency of the accelerometer/gyroscope. Values range from 1.5625hz to 32khz.

  • accel_range / gyro_range

    • The range of the accelerometer (2g, 4g, 8g, 16g) and gyroscope (16dps to 2000dps).

  • linear_accel_cov

    • Covariance of the linear acceleration.

4.1.6. Depth Filters

  • enable_decimation_filter

    • Enable the Depth decimation filter. Set with decimation_filter_scale.

  • enable_hdr_merge

    • Enable the Depth hdr merge filter. Set with hdr_merge_exposure_1, etc.

  • enable_sequenced_filter

    • Enable the Depth sequence id filter. Set with sequence_id_filter_id.

  • enable_threshold_filter

    • Enable the Depth threshold filter. Set with threshold_filter_max, threshold_filter_min.

  • enable_hardware_noise_removal_filter

    • Enable the Depth hardware noise removal filter.

  • enable_noise_removal_filter

    • Enable the Depth software noise removal filter. Set with noise_removal_filter_min_diff, etc.

  • enable_spatial_filter

    • Enable the Depth spatial filter. Set with spatial_filter_alpha, etc.

  • enable_temporal_filter

    • Enable the Depth temporal filter. Set with temporal_filter_diff_threshold, etc.

  • enable_hole_filling_filter

    • Enable the Depth hole filling filter. Set with hole_filling_filter_mode.

IMPORTANT: Please carefully read the instructions regarding software filtering settings at this link. If you are uncertain, do not modify these settings.